Differentiable simulators provide an avenue for closing the sim-to-real gap by enabling the
use of efficient, gradient-based optimization algorithms to find the simulation parameters that …

An important field in robotics is the optimization of controllers. Currently, robots are often
treated as a black box in this optimization process, which is the reason why derivative-free …

A robotic gras** simulator, called Graspit!, is presented as versatile tool for the gras**
community. The focus of the grasp analysis has been on force-closure grasps, which are …

We introduce DiffPhy, a differentiable physics-based model for articulated 3d human motion
reconstruction from video. Applications of physics-based reasoning in human motion …

This paper presents a momentum-based control framework for floating-base robots and its
application to the humanoid robot “Atlas”. At the heart of the control framework lies a …

We consider the problem of controlling multiple robots manipulating and transporting a
payload in three dimensions via cables. Individual robot control laws and motion plans …

We consider the simulation of nonconvex rigid bodies focusing on interactions such as
collision, contact, friction (kinetic, static, rolling and spinning) and stacking. We advocate …

Simulations of rigid objects with contact resolution and friction are ubiquitous in computer
graphics and robotics. Rigid body models do not deform. Equipped with just rotational and …

Motivated by the requirements of mobile manipulation, a compliant underactuated hand,
capable of locking individual joints, has been developed. Locking is accomplished with …

In this paper, we describe the concept and implementation of a dynamics filter, an online, full-
body motion generator that converts a physically infeasible reference motion into a feasible …